Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned

• URL: http://arxiv.org/abs/2601.21063v1
• Date: Wed, 28 Jan 2026 21:40:46 GMT
• Title: Multi-Robot Decentralized Collaborative SLAM in Planetary Analogue Environments: Dataset, Challenges, and Lessons Learned
• Abstract summary: We present insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain.<n>We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments.<n>We introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements.
• Score: 4.08676219075262
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Decentralized collaborative simultaneous localization and mapping (C-SLAM) is essential to enable multirobot missions in unknown environments without relying on preexisting localization and communication infrastructure. This technology is anticipated to play a key role in the exploration of the Moon, Mars, and other planets. In this article, we share insights and lessons learned from C-SLAM experiments involving three robots operating on a Mars analogue terrain and communicating over an ad hoc network. We examine the impact of limited and intermittent communication on C-SLAM performance, as well as the unique localization challenges posed by planetary-like environments. Additionally, we introduce a novel dataset collected during our experiments, which includes real-time peer-to-peer inter-robot throughput and latency measurements. This dataset aims to support future research on communication-constrained, decentralized multirobot operations.

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